The aim of the Master?s Thesis work is to study and develop algorithms for autonomous travel of a UGV (Unmanned Ground Vehicle). A vehicle for the mounting of sensors has been constructed in order to perform the work. Since the UGV is to be used outdoor in urban areas, GPS can be used. To improve precision and robustness, inertial navigation is used in addition to GPS, since GPS reception is likely to be diminished in such areas.

Algebra in school, - a study on students` algebraic knowledge of the field equations in ninth grade.International (TIMSS) and national mathematics studies detects that Swedish pupils math skills is deteriorating in comparison to other countries. Therefore has the subject of mathematics become one of the school subjects which are becoming increasingly in focus. The government has made a big effort, Matematiklyftet, in mathematics in primary education, 650 million has been invested and the Agency has been tasked to train all current mathematics teachers through peer collegial learning. This effort is the most pervasive in modern times in Sweden.The aim of this study is that we as prospective mathematics teachers want to find our approach to surveys results. By using the Governments? diagnoses, Diamant, student group interviews, teacher interviews and theories in mathematics education, we want to make students' algebraic knowledge of the field equations visible.

This thesis is commissioned by the Swedish electricity trading company GodEl with the purpose of evaluate solar electricity in multi-family buildings in the Stockholm region. The prices of solar panels have dropped recently due to the advances in technology, but the installation rate in Sweden remains low. It is therefore interesting to study the  profitability of solar electricity today, and if it is profitable enough to install based on profitability alone and not simply due to environmental considerations. Therefore this thesis first studies the profitability of solar panels based on a simulation of electricity production and consumption for multi-family buildings this region. The study concludes that solar electricity can be profitable in the Stockholm region under certain conditions; all of which have to be favourable for profitable solar electricity.The thesis also studies the opinion of the company's costumers concerning solar electricity.

Dagvatten från vägar innehåller ofta tungmetaller. De vanligaste metallerna i vägdagvatten är bly, koppar, kadmium, nickel och zink. Dessa föroreningar utgör en belastning i recipienter som tar emot dagvattnet. I denna rapport har bly, koppar och zink reducerats från vägdagvatten genom filtrering i kolonner med amorf, granulerad masugnsslagg och sand. Masugnsslagg, som är en biprodukt från framställningen av järn, är en alkalisk produkt med goda sorptionsegenskaper vilket gör den lämplig att använda som filtermaterial för vatten förorenade med metaller.

Dagvatten från vägar innehåller ofta tungmetaller. De vanligaste metallerna i vägdagvatten är bly, koppar, kadmium, nickel och zink. Dessa föroreningar utgör en belastning i recipienter som tar emot dagvattnet. I denna rapport har bly, koppar och zink reducerats från vägdagvatten genom filtrering i kolonner med amorf, granulerad masugnsslagg och sand. Masugnsslagg, som är en biprodukt från framställningen av järn, är en alkalisk produkt med goda sorptionsegenskaper vilket gör den lämplig att använda som filtermaterial för vatten förorenade med metaller.

The educational underachievement of children in foster care has been known for a long time. This study aimed to compile and analyze the current knowledge about interventions, intended to improve foster children?s school achievements. The method used was a systematically undertaken narrative review. Despite a comprehensive searching strategy, only ten relevant studies were found, indicating that little has been done to improve the educational outcomes for children in public care.

The reason behind this essay has been to study if previous research is relevant for Jehovah?s Witnesses in Sweden and see if secularization has affected the organization or not. The empirical material is made from two qualitative group- interviews and open observations during two meetings in the Kingdom Hall. These studies were performed in Oskarshamn and Mönsterås during the month of February. The reason that these studies have been limited to Oskarshamn and Mönsterås is mainly because they were the only ones willing to do an interview.  According to previous research by James A.

The WT1 gene is a complex gene originally known to suppress cancer in kidneys. Studies of WT1 knockout mice have confirmed the important role of WT1 in the pathogenesis of Wilms? tumour, a tumour which counts for 95% of all childhood renal tumours. In that case the WT1 gene acts as a tumour suppressor gene. Subsequent research has shown that the WT1 gene in many other cases acts as an oncogene, e g in leukemia or lung cancer (even though these cancer forms can emerge as a result of many other aetiological factors).

The Afghan war post 9/11 has become the source of multiple case studies. Recent studies suggest that variations in domestic support for deployment of troops in Afghanistan can be explained by means of the strategic narratives provided by the policymakers of the contributing state; a strong consistent narrative increases public support. Scholars recognize a Swedish catch-all narrative, which suggests weakens the narrative, thus raising the uncertainty among the public. This thesis investigates the projection of Swedish strategic narrative through elite Swedish newspapers. The content analysis reveals an inconsistency between the policymaker?s formation of the strategic narrative and the narrative projected by individual newspapers.

Gender is a universal factor that is unavoidable in classroom interaction between pupils and teachers. The principle aim of this essay is to illustrate whether, during the interaction between pupil and teachers still occurs behavior that expresses a gender order. We also want to establish if the ones who attract attention from the teachers is the individual, or if teachers still on a subconscious or conscious level, think of the pupils gender and ascribes him or her some characteristics or qualities. Especially we want to bring out the pupils thoughts and sights of there is a difference on how teachers treat boys and girls. Another purpose we wanted to achieve was to illustrate how teachers work with the concept of equivalence between the sexes, according to Lpo94.Our essay is built on our studies around what teachers think on how they treat the pupils, on the basis of gender perspective.

Due to an increased population in cities the need of densification of cities increases. This means that the amount of ecological elements in the city is at risk of decreasing. Ecological services contribute to the city?s climate by softening the negative impacts that densification of cities means. Thus increases the will and ambition in city planning in to preserve greenery.This is an interdisciplinary thesis within the subject of geography that studies Biotope Area Factor (BAF), a planning tool that is used in city planning with the purpose of compensating for lost ecological services associated with new housing estate.

This thesis analyses the intertextual relation between Birgitta Trotzig?s I Kejsarens tid and the works of the Polish author Bruno Schulz, using a hermeneutical method. The application of Manfred Pfister?s model for qualification of intertextual intensity initially motivates that the most important intertextual relations should be sought in the realm of ?refer to? rather than ?use?. According to the hermeneutical approach, the conclusion demands an exposition of Birgitta Trotzig?s interpretative practices in relation to intertexts.

Syftet med denna undersökning är att undersöka vilka problem och möjligheter man kan möta med användandet av historisk spelfilm i historieundervisningen. Spelfilmens roll som historieförmedlare har ökat under de senaste åren. Idag fungerar spelfilm med historiska motiv som historieförmedlare för många människor, inte minst ungdomar. I många fall används spelfilmen i underhållningssyfte. En stor anledning till att jag gör denna undersökning är för att se närmare på hur läraren kan arbeta med spelfilmen i historieundervisningen utöver ett rent underhållningssyfte.

Stockholm city has recently raised its ambitions for bicycle traffic, the goal is to achieve a larger andsafer bicycle traffic. But cyclists are more vulnerable on the roads than other vehicle users because of the lack of protection. This means that a large proportion of road safety for cyclists is based on the design of the traffic environment. Since most serious bicycle accidents are those that occur in conflict with motor vehicles, and the majority of these accidents occur at intersections, these areas are of great importance forcyclist?s safety.The  purpose  of  this  paper  is  to  highlight  bicycle  accidents  at  intersections  and  to  suggest improvements  in three accident-prone junctions  in Stockholm.  This is  achieved  by  the study of accident statistics, literature and finally three case studies.The literature study focused on cyclists, traffic safety and traffic safety measures.

Quality Assurance in Service Procurement --- Total Quality and Total Quality Management refer to popular management philosophies in organizations these days. The purchasing department has an important part in the strive for organizational quality as several studies show corporate spend is significant and increasing. In this master thesis I study the actions companies take to ensure quality in service procurement. I argue that managing quality when sourcing services is particularly tricky, because of the special characteristics that belong to services. The purpose of the study is to examine whether different actions are taken to ensure the quality of different kinds of services.